version: 66.06
glider: 143
mission: 10
dive: 323
start: 12 16 109 19 44 33
data:
$ID,143
$MISSION,10
$DIVE,323
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-42098.641
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,193536,6708.670,-5710.575,30,1.0,30,-37.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.8
$GPS2,194414,6708.660,-5710.425,9,1.7,9,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,160.7,19291,-16.9,-9.167
$D_GRID,585
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.73,-146.0,0.0,0.0,0,138,0.00,0.00,-120.22,0.000,2,0.000,0.000,129,2466,3190,0,0,0,0,0,0
$GC,142,-0.73,-146.0,3.7,-6.7,24,168,11.43,3.38,-5.18,0.000,4,0.298,0.099,2445,3912,3399,0,0,2,0,0,0
$GC,237,-0.73,-146.0,20.3,-11.2,41,243,0.00,3.15,0.00,0.000,6,0.000,0.065,2445,2459,3401,0,0,2,0,0,0
$GC,580,-0.73,-146.0,58.4,-11.1,102,586,0.00,3.30,0.00,0.000,4,0.000,0.089,2445,3915,3402,0,0,2,0,0,0
$GC,750,-0.73,-146.0,77.4,-11.1,132,756,0.00,3.10,0.00,0.000,6,0.000,0.066,2445,2490,3402,0,0,2,0,0,0
$GC,1087,-0.73,-146.0,113.1,-10.1,181,1092,0.00,3.22,0.00,0.000,4,0.000,0.089,2445,3915,3401,0,0,2,0,0,0
$GC,1344,-0.82,-146.0,138.2,-9.5,203,1350,0.00,3.03,0.00,0.000,6,0.000,0.066,2445,2538,3400,0,0,1,0,0,0
$GC,1670,-0.90,-146.0,163.9,-7.8,234,1675,0.15,3.17,0.00,0.000,4,0.117,0.088,2388,3926,3399,0,0,2,0,0,0
$GC,1912,-0.80,-146.0,190.5,-10.5,255,1918,0.17,2.92,0.00,0.000,6,0.205,0.064,2428,2581,3398,0,0,2,0,0,0
$GC,2237,-0.85,-146.0,218.9,-9.2,285,2242,0.00,3.03,0.00,0.000,4,0.000,0.087,2428,3918,3398,0,0,3,0,0,0
$GC,2416,-0.85,-146.0,234.8,-8.9,300,2422,0.00,2.90,0.00,0.000,6,0.000,0.062,2428,2593,3398,0,0,0,0,0,0
$GC,2741,-0.85,-146.0,262.7,-8.2,331,2746,0.00,3.00,0.00,0.000,4,0.000,0.085,2428,3917,3399,0,0,2,0,0,0
$GC,2949,-0.91,-146.0,279.8,-7.9,349,2953,0.00,2.83,0.00,0.000,6,0.000,0.061,2428,2618,3399,0,0,1,0,0,0
$GC,3274,-0.96,-146.0,302.9,-6.9,379,3279,0.15,2.90,0.00,0.000,4,0.112,0.081,2365,3917,3400,0,0,2,0,0,0
$GC,3437,-0.80,-146.0,318.4,-10.0,393,3443,0.25,2.80,0.00,0.000,6,0.200,0.059,2424,2628,3400,0,0,1,0,0,0
$GC,3763,-0.80,-146.0,340.1,-6.5,423,3767,0.00,2.92,0.00,0.000,4,0.000,0.083,2424,3916,3401,0,0,1,0,0,0
$GC,3919,-0.85,-146.0,352.0,-7.5,436,3925,0.00,2.75,0.00,0.000,6,0.000,0.059,2424,2654,3401,0,0,1,0,0,0
$GC,4245,-0.90,-146.0,376.6,-7.6,467,4250,0.00,2.90,0.00,0.000,4,0.000,0.084,2424,3916,3401,0,0,1,0,0,0
$GC,4403,-0.95,-146.0,389.6,-8.4,480,4409,0.12,2.72,0.00,0.000,6,0.120,0.058,2385,2670,3401,0,0,1,0,0,0
$GC,4727,-0.88,-146.0,419.3,-9.4,511,4732,0.00,2.88,0.00,0.000,4,0.000,0.083,2384,3927,3402,0,0,1,0,0,0
$GC,4864,-0.80,-146.0,431.9,-9.2,522,4870,0.17,2.70,0.00,0.000,6,0.195,0.058,2424,2684,3402,0,0,2,0,0,0
$GC,5189,-0.80,-146.0,455.8,-7.1,553,5193,0.00,2.85,0.00,0.000,4,0.000,0.082,2425,3926,3403,0,0,1,0,0,0
$GC,5330,-0.86,-146.0,466.7,-7.4,565,5335,0.00,2.67,0.00,0.000,6,0.000,0.058,2425,2701,3403,0,0,2,0,0,0
$GC,5656,-0.92,-146.0,491.3,-7.4,595,5661,0.00,2.83,0.00,0.000,4,0.000,0.082,2425,3926,3404,0,0,1,0,0,0
$GC,5787,-0.99,-146.0,500.7,-7.6,606,5792,0.17,2.62,0.00,0.000,6,0.104,0.058,2364,2724,3404,0,0,2,0,0,0
$GC,6111,-0.87,-146.0,533.6,-11.1,636,6117,0.17,2.80,0.00,0.000,4,0.201,0.081,2399,3929,3404,0,0,2,0,0,0
$GC,6253,-0.87,-146.0,547.4,-9.7,648,6258,0.00,2.58,0.00,0.000,6,0.000,0.058,2399,2742,3404,0,0,2,0,0,0
$GC,6578,-0.87,-146.0,576.0,-8.6,678,6582,0.00,2.72,0.00,0.000,4,0.000,0.083,2399,3920,3404,0,0,1,0,0,0
$GC,6662,-0.87,-146.0,583.3,-9.0,685,6666,0.00,2.55,0.00,0.000,6,0.000,0.058,2399,2748,3404,0,0,2,0,0,0
$STATE,6686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6687,begin apogee
$GC,6693,-0.16,0.0,585.7,8.7,687,6820,0.82,0.00,122.40,1.101,6,0.176,0.000,2630,1936,2800,0,0,0,0,0,0
$STATE,6820,end apogee,CONTROL_FINISHED_OK
$STATE,6820,begin climb
$GC,6823,0.73,146.0,588.0,0.0,700,6956,0.95,0.00,126.12,1.053,6,0.127,0.000,2916,1936,2204,0,0,0,0,0,0
$GC,7273,0.73,146.0,541.9,11.4,743,7279,0.00,3.53,0.00,0.000,4,0.000,0.074,2916,3541,2195,0,0,3,0,0,0
$GC,7415,0.62,146.0,523.7,13.6,755,7421,0.17,3.47,0.00,0.000,6,0.203,0.067,2893,1973,2193,0,0,0,0,0,0
$GC,7739,0.62,146.0,490.9,10.1,785,7744,0.00,3.45,0.00,0.000,4,0.000,0.075,2893,3549,2193,0,0,2,0,0,0
$GC,7834,0.62,146.0,480.4,11.4,793,7839,0.00,3.45,0.00,0.000,6,0.000,0.068,2906,1972,2193,0,0,0,0,0,0
$GC,8158,0.62,146.0,445.9,10.8,823,8163,0.00,3.42,0.00,0.000,4,0.000,0.077,2906,3542,2192,0,0,2,0,0,0
$GC,8276,0.55,146.0,431.9,11.5,833,8282,0.20,3.40,0.00,0.000,6,0.197,0.069,2874,1990,2193,0,0,1,0,0,0
$GC,8601,0.65,160.7,402.5,8.5,863,8622,0.00,3.45,11.70,0.915,4,0.000,0.075,2874,3540,2144,0,0,1,0,0,0
$GC,8750,0.65,160.7,387.3,10.3,876,8756,0.00,3.35,0.00,0.000,6,0.000,0.068,2886,2013,2142,0,0,1,0,0,0
$GC,9075,0.72,160.7,355.3,9.7,907,9081,0.10,3.38,0.00,0.000,4,0.124,0.076,2922,3541,2142,0,0,2,0,0,0
$GC,9196,0.61,160.7,341.1,12.0,917,9202,0.20,3.33,0.00,0.000,6,0.202,0.068,2888,2028,2142,0,0,1,0,0,0
$GC,9521,0.69,172.0,312.1,8.7,947,9541,0.00,3.35,10.82,0.864,4,0.000,0.074,2888,3541,2097,0,0,1,0,0,0
$GC,9637,0.69,172.0,300.6,10.1,957,9642,0.00,3.35,0.00,0.000,6,0.000,0.067,2901,2033,2096,0,0,0,0,0,0
$GC,9961,0.69,172.0,267.4,10.5,988,9966,0.00,3.35,0.00,0.000,4,0.000,0.076,2901,3541,2096,0,0,1,0,0,0
$GC,10056,0.69,172.0,256.5,12.4,996,10061,0.00,3.30,0.00,0.000,6,0.000,0.067,2915,2065,2096,0,0,0,0,0,0
$GC,10380,0.69,172.0,220.1,11.9,1026,10385,0.00,3.30,0.00,0.000,4,0.000,0.076,2915,3546,2096,0,0,2,0,0,0
$GC,10480,0.64,172.0,206.6,13.5,1034,10487,0.15,3.28,0.00,0.000,6,0.202,0.067,2897,2068,2096,0,0,1,0,0,0
$GC,10805,0.69,172.0,170.7,10.6,1065,10810,0.00,3.28,0.00,0.000,4,0.000,0.075,2897,3542,2096,0,0,2,0,0,0
$GC,10889,0.69,172.0,161.1,11.7,1072,10894,0.00,3.25,0.00,0.000,6,0.000,0.067,2909,2083,2096,0,0,1,0,0,0
$GC,11215,0.74,172.0,126.6,11.0,1102,11220,0.00,3.28,0.00,0.000,4,0.000,0.075,2909,3549,2095,0,0,2,0,0,0
$GC,11321,0.74,172.0,113.2,13.2,1111,11326,0.00,3.25,0.00,0.000,6,0.000,0.067,2923,2094,2095,0,0,0,0,0,0
$GC,11658,0.84,193.2,77.0,8.3,1161,11684,0.12,3.25,18.75,0.759,4,0.110,0.074,2969,3542,2010,0,0,2,0,0,0
$GC,11754,0.72,193.2,66.3,11.4,1178,11760,0.25,3.25,0.00,0.000,6,0.200,0.067,2925,2101,2008,0,0,0,0,0,0
$GC,12100,0.84,204.9,37.2,8.7,1239,12118,0.12,3.22,10.88,0.718,4,0.121,0.075,2967,3546,1964,0,0,1,0,0,0
$GC,12209,0.75,204.9,24.4,12.2,1258,12215,0.20,3.25,0.00,0.000,6,0.194,0.067,2934,2110,1961,0,0,0,0,0,0
$FREEZE,8.68,-0.677,-1.827,0,1,0
$FREEZE,8.20,-0.679,-1.826,0,1,0
$FREEZE,7.71,-0.686,-1.826,0,1,0
$FREEZE,7.32,-0.689,-1.826,0,1,0
$FREEZE,6.65,-0.695,-1.825,0,1,0
$STATE,12400,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,12400,begin subsurface finish
$FINISH1,6.7,1.026694,39
$GC,12407,0.05,39.1,6.7,-9.0,1292,12433,0.77,0.00,-22.80,0.000,6,0.170,0.000,2711,1931,2642,0,0,0,0,0,0
$FINISH2,5.4
$STATE,12434,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12434,begin surface
$RAFOS_CLK,780
$RAFOS,6,1260996545,20.833334,20.818056,89,55,53,0,0,0,776,118,202,0,0,0
$RAFOS,5,1260996063,20.700001,20.684166,115,59,57,0,0,0,632,180,137,0,0,0
$RAFOS,4,1260995585,20.566668,20.551390,62,59,55,0,0,0,212,194,179,0,0,0
$RAFOS,3,1260995103,20.433332,20.417500,60,55,54,0,0,0,216,153,179,0,0,0
$RAFOS,2,1260994631,20.299999,20.286388,67,56,55,0,0,0,201,179,136,0,0,0
$RAFOS,1,1260994149,20.166666,20.152500,66,59,56,0,0,0,205,186,214,0,0,0
$RAFOS,0,1260993662,20.033333,20.017221,53,51,51,0,0,0,181,157,116,0,0,0
$RAFOS_FIX,6708.355469,-5714.697754,161209,202000,2,102,0.82
$IRIDIUM_FIX,6636.54,-5712.23,120399,191920
$TT8_MAMPS,0.027612
$HUMID,47.83
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,17.9
$ALTIM_BOTTOM_PING,500.2,109.2
$24V_AH,22.5,61.557
$10V_AH,10.1,32.540
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.875,163.050,300.675,0.000,0.000,51.952,114.888,165.781,3.000,0.000,11.144,2169.374,7406.174,491.632,2326.419,550.422,0.000,1676.272,0.000,2283.457,2520.000,18.381,0.000
$DEVICE_MAMPS,297.596,99.710,1101.412,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,950.693,886.790,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152440
$DATA_FILE_SIZE,50414,1297
$CAP_FILE_SIZE,151757,0
$CFSIZE,260165632,224886784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,70,0,0
$SOUNDSPEED,1466.2
$GPS,161209,204800,6708.355,-5714.698,0,2102.0,0,-37.8